utest.cpp

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*

Copyright (c) 2010--2012,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the <organization> nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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*/

#include "utest.h"

using namespace std;
using namespace PointMatcherSupport;
using boost::assign::map_list_of;

// TODO: avoid global by using testing::Environment

std::string dataPath;

DP ref2D;
DP data2D;
DP ref3D;
DP data3D;
PM::TransformationParameters validT2d;
PM::TransformationParameters validT3d;

//---------------------------
// Test ICP with all existing filters.

// Algorithm:
// 1. Iterate over all yaml files in
//    libpointmatcher/examples/data/icp_data, each file tests ICP
//    with one or more filters.
// 2. Run ICP with the given yaml file. The filters in the yaml
//    file are applied along the way.
// 3. Write the obtained ICP transform to disk, to the same directory,
//    with file extension .cur_trans (for easy future comparisons).
// 4. Load the reference (known as correct) ICP transform from disk,
//    from the same directory, with file extension .ref_trans.
// 5. See if the current and reference transforms are equal.

// To update an existing test or add a new test, simply add/modify
// the desired yaml file, run the tests (they may fail this time), then
// copy the (just written) desired current transform file on top of the
// corresponding reference transform file. Run the tests again. This
// time they will succeed.
//---------------------------

TEST(icpTest, icpTest)
{
        DP ref  = DP::load(dataPath + "cloud.00000.vtk");
        DP data = DP::load(dataPath + "cloud.00001.vtk");

        namespace fs = boost::filesystem;
        fs::path config_dir(dataPath + "icp_data");
        EXPECT_TRUE( fs::exists(config_dir) && fs::is_directory(config_dir) );

        fs::directory_iterator end_iter;
        for( fs::directory_iterator d(config_dir); d != end_iter; ++d)
        {
                if (!fs::is_regular_file(d->status()) ) continue;

                // Load config file, and form ICP object
                PM::ICP icp;
                std::string config_file = d->path().string();
                if (fs::extension(config_file) != ".yaml") continue;
                std::ifstream ifs(config_file.c_str());
                EXPECT_NO_THROW(icp.loadFromYaml(ifs)) << "This error was caused by the test file:" << endl << "   " << config_file;

                // Compute current ICP transform
                PM::TransformationParameters curT = icp(data, ref);

                // Write current transform to disk (to easily compare it
                // with reference transform offline)
                fs::path cur_file = d->path();
                cur_file.replace_extension(".cur_trans");
                //std::cout << "Writing: " << cur_file << std::endl;
                std::ofstream otfs(cur_file.c_str());
                otfs.precision(16);
                otfs << curT;
                otfs.close();
                
                // Load reference transform
                fs::path ref_file = d->path();
                ref_file.replace_extension(".ref_trans");
                PM::TransformationParameters refT = 0*curT;
                //std::cout << "Reading: " << ref_file << std::endl;
                std::ifstream itfs(ref_file.c_str());
                for (int row = 0; row < refT.cols(); row++)
                {
                        for (int col = 0; col < refT.cols(); col++)
                        {
                                itfs >>refT(row, col);
                        }
                }

                // Dump the reference transform and current one
                //std::cout.precision(17);
                //std::cout << "refT:\n" << refT << std::endl;
                //std::cout << "curT:\n" << curT << std::endl;

                // Tolerance for change in rotation and translation
                double rotTol = 0.1, transTol = 0.1;

                // Find how much the reference rotation and translation
                // differ from the current values.
                PM::TransformationParameters refRot   = refT.block(0, 0, 3, 3);
                PM::TransformationParameters refTrans = refT.block(0, 3, 3, 1);
                PM::TransformationParameters curRot   = curT.block(0, 0, 3, 3);
                PM::TransformationParameters curTrans = curT.block(0, 3, 3, 1);
                PM::TransformationParameters rotErrMat = refRot*(curRot.transpose())
                  - PM::TransformationParameters::Identity(3, 3);
                PM::TransformationParameters transErrMat = refTrans - curTrans;
                double rotErr = rotErrMat.array().abs().sum();
                double transErr = transErrMat.array().abs().sum();

                //std::cout << "Rotation error:    " << rotErr   << std::endl;
                //std::cout << "Translation error: " << transErr << std::endl;
                
                EXPECT_LT(rotErr,   rotTol) << "This error was caused by the test file:" << endl << "   " << config_file;
                EXPECT_LT(transErr, transTol) << "This error was caused by the test file:" <<  endl << "   " << config_file;
        }
}

// Utility classes
class GenericTest: public IcpHelper
{

public:

        // Will be called for every tests
        virtual void SetUp()
        {
                icp.setDefault();
                // Uncomment for consol outputs
                //setLogger(PM::get().LoggerRegistrar.create("FileLogger"));
        }

        // Will be called for every tests
        virtual void TearDown()
        {       
        }
};

//---------------------------
// Generic tests
//---------------------------

TEST_F(GenericTest, ICP_default)
{
        validate2dTransformation();
        validate3dTransformation();
}

//---------------------------
// Main
//---------------------------
int main(int argc, char **argv)
{
        dataPath = "";
        for(int i=1; i < argc; i++)
        {
                if (strcmp(argv[i], "--path") == 0 && i+1 < argc)
                        dataPath = argv[i+1];
        }

        if(dataPath == "")
        {
                cerr << "Missing the flag --path ./path/to/examples/data\n Please give the path to the test data folder which should be included with the source code. The folder is named 'examples/data'." << endl;
                return -1;
        }

        // Load point cloud for all test
        ref2D =  DP::load(dataPath + "2D_oneBox.csv");
        data2D = DP::load(dataPath + "2D_twoBoxes.csv");
        ref3D =  DP::load(dataPath + "car_cloud400.csv");
        data3D = DP::load(dataPath + "car_cloud401.csv");

        // Result of data express in ref (from visual inspection)
        validT2d = PM::TransformationParameters(3,3);
        validT2d <<  0.987498,  0.157629, 0.0859918,
                                -0.157629,  0.987498,  0.203247,
                                                0,         0,         1;

        validT3d = PM::TransformationParameters(4,4);
        validT3d <<   0.982304,   0.166685,  -0.0854066,  0.0446816,
                                 -0.150189,   0.973488,   0.172524,   0.191998,
                                  0.111899,  -0.156644,   0.981296,  -0.0356313,
                      0,          0,          0,          1;

        testing::GTEST_FLAG(print_time) = true;
        testing::InitGoogleTest(&argc, argv);
        return RUN_ALL_TESTS();
}